CN111521167A - Centering instrument for automatically measuring centering point by surveying and mapping instrument based on image control and working method thereof - Google Patents
Centering instrument for automatically measuring centering point by surveying and mapping instrument based on image control and working method thereof Download PDFInfo
- Publication number
- CN111521167A CN111521167A CN202010555662.0A CN202010555662A CN111521167A CN 111521167 A CN111521167 A CN 111521167A CN 202010555662 A CN202010555662 A CN 202010555662A CN 111521167 A CN111521167 A CN 111521167A
- Authority
- CN
- China
- Prior art keywords
- point
- points
- centering
- instrument
- coordinate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
- G01C15/004—Reference lines, planes or sectors
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Multimedia (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Laser Beam Processing (AREA)
Abstract
A surveying instrument based on image control automatically measures the centering instrument and its working method to the centering instrument, the centering instrument is imaging device and correcting unit controlled by the controller, the integrated matching algorithm can process the image information that the imaging device gathers in the controller; the correcting device can correct and move the rotation center of the centering instrument to the position of the target center point according to the image information processing result. The invention does not need manual accurate centering and realizes full-automatic accurate centering of known points.
Description
Technical Field
The invention relates to a surveying instrument based on an industrial camera, in particular to a centering instrument for automatically measuring a centering point of the surveying instrument based on image control and a working method thereof.
Background
Measurement errors are inevitably generated in the measurement work, and the use of each measuring instrument in the measurement influences the measurement precision. With the gradual improvement of the precision requirement of the measurement task, the measurement instrument can completely meet the task requirement through gradual improvement, but in the erection process of the measurement instrument, the centering of the instrument is usually manually performed for multiple times of cross centering and leveling operation of the instrument, the known target point of centering can be determined, even a skilled operator needs to spend about 4 minutes in the whole process, and the method has low working efficiency and poor reliability, and is easy to generate deviation so as to influence the measurement precision. In order to improve the measurement efficiency and meet the requirement of a high-precision measurement task, higher requirements on the centering precision of instrument erection are required.
Disclosure of Invention
The invention aims to provide a centering instrument capable of quickly and automatically realizing high-precision centering, and provides guarantee for realizing a high-precision measurement task.
The invention mainly solves the technical problem of providing a centering instrument for automatically measuring a centering point by a surveying instrument based on image control and a working method thereof, wherein the surveying instrument is erected at a position close to a known target point O approximately for leveling, and the centering instrument measures a coordinate J1 (a) of the current centering point by utilizing an image acquisition technology1,b1)。
The technical solution of the invention is as follows:
a surveying instrument automatic determination centering appearance of centering point based on image control includes:
the controller is internally integrated with a matching algorithm which can process image information acquired by the imaging device;
the correcting device can correct and move the rotation center of the centering instrument to the position of the target center point according to the image information processing result.
The matching algorithm is a program for realizing an image information processing method;
the image information processing method realizes:
firstly, erecting a centering instrument at a nearly known coordinate point O, leveling, opening a laser indicating point, measuring the coordinates of a current laser indicating point J1 of the instrument by the centering instrument by using an imaging device, roughly rotating by 60 degrees to obtain a J2 point, similarly rotating for 6 times to respectively obtain the coordinates of the J1, J2, J3, J4, J5 and J6 laser indicating points, forming three different central points at pairwise symmetrical positions, wherein the position of the central point connected with J1 and J4 is set as C14, the position of the central point connected with J2 and J5 is set as C25, the position of the central point connected with J3 and J6 is set as C36, and determining the rotation center of a unique rotating shaft according to the positions of the three central points;
the following three conditions exist at the positions of three middle points of C14, C25 and C36:
firstly, three middle points of C14, C25 and C36 coincide, and in this case, the coincident point is the rotation center of the rotation axis;
secondly, two points of three middle points C14, C25 and C36 coincide, and at the moment, a middle point between the two coincident points and a non-coincident point of a third point is taken as the rotation center of the calculated rotation axis;
thirdly, the three middle points of C14, C25 and C36 are not coincident with each other, at this time, the three points form an arbitrary triangle, and the inner center of the triangle is taken as the rotation center of the rotation axis.
The above-mentioned correcting unit includes:
a three-axis displacement sliding table is arranged,
the triaxial displacement slip table is divided into 3 layers, and the lower floor is unmovable, and the upper two-layer X, Y axle removal of realizing respectively.
Above-mentioned centering instrument, its characterized in that still includes: a light filling device for image device.
Above-mentioned centering instrument, its characterized in that still includes: a display device for displaying an image.
Above-mentioned centering appearance, its characterized in that: the imaging device can be a surveying and mapping instrument such as a total station, a theodolite or an instrument for super station.
The working method of the centering instrument is characterized by comprising the following steps:
firstly, erecting a full-automatic precision centering instrument at a nearly known coordinate point O, leveling, opening a laser indicating point, measuring the coordinates of a current laser indicating point J1 of the instrument by the centering instrument by using an imaging device, roughly rotating by 60 degrees to obtain a J2 point, similarly rotating for 6 times to respectively obtain the coordinates of the J1, the J2, the J3, the J4, the J5 and the J6 laser indicating points, forming three different central points at pairwise symmetrical positions due to the existence of rotation errors, setting the position of a central point connected with the J1 and the J4 to be C14, setting the position of a central point connected with the J2 and the J5 to be C25, setting the position of a central point connected with the J3 and the J6 to be C36, and determining the rotation center of a unique rotation shaft according to the positions of the three central.
The following three conditions exist at the positions of three middle points of C14, C25 and C36: firstly, three middle points of C14, C25 and C36 coincide, and in this case, the coincident point is the rotation center of the rotation axis;
secondly, two points of three middle points C14, C25 and C36 coincide, and at the moment, a middle point between the two coincident points and a non-coincident point of a third point is taken as the rotation center of the calculated rotation axis;
thirdly, the three middle points of C14, C25 and C36 are not coincident with each other, at this time, the three points form an arbitrary triangle, and the inner center of the triangle is taken as the rotation center of the rotation axis.
The working method is characterized by comprising the following specific steps:
step one, after the imaging device of the full-automatic precision centering instrument is erected at the approximate position of a known point O (x ', y'), and is approximately leveled, a power switch of a controller is turned on, a laser centering device is turned on, and a laser point J1 and a known coordinate point O fallEntering the shooting range of the industrial camera shooting device, after the system is started, the position of the laser indicating point can be directly observed from the screen, the controller controls the industrial camera to shoot the J1 point image and calculates the image coordinate (a) of the J1 point1,b1)；
Step two, the controller controls the device to rotate by 60 degrees to reach a second shooting position, and the controller controls the industrial camera to acquire the image coordinate (a) of the point J22,b2)；
Step three, synchronizing the step one and the step two, sequentially rotating by 60 degrees, and acquiring coordinates (a) of J3, J4, J5 and J63,b3)、(a4,b4)、(a5,b5)、(a6,b6)；
Step four, calculating the coordinates of the middle points of connecting lines of J1 and J4, J2 and J5, and J3 and J6, namely C14, C25 and C36, and setting the coordinates of C14, C25 and C36 as A (x is x)1、y1)、B(x2、y2)、C(x3、y3) The coordinates of the three midpoints are as follows:
step five, if the three middle points are coincident, the coordinate of the point has x1＝x2＝x3，y1＝y2＝y3Namely, the point coordinate is the central coordinate of the rotating shaft;
step six, the controller controls to turn off the laser indicator light, and simultaneously controls the industrial camera to shoot an image without a laser indicating point but containing the correcting device;
step seven, calculating the distance x between the horizontal axis and the vertical axis between the coordinates of the inner center point and the known coordinate points O (x ', y') by using an auxiliary correction device0-x′，y0Y', the driving device drives the three-axis moving sliding table to move corresponding coordinate components, and the rotating center is moved to the target point.
The working method is characterized in that:
in the fifth step, the process is carried out,
if two points of the three middle points coincide with each other and the other point does not coincide with the other point, the coordinate of the middle point between the coincident point and the non-coincident point is calculated, and if A, B points coincide and C does not coincide with A and B, x is calculated at the moment1＝x2＝x″，y1＝y2＝y″，
(x0，y0) The rotating center of the rotating shaft is obtained;
step six, the controller controls to turn off the laser indicator light, and simultaneously controls the industrial camera to shoot an image without a laser indicating point but containing the correcting device;
step seven, calculating the distance x between the horizontal axis and the vertical axis between the coordinates of the inner center point and the known coordinate points O (x ', y') by using an auxiliary correction device0-x′，y0Y', the driving device drives the three-axis moving sliding table to move corresponding coordinate components, and the rotating center is moved to the target point.
The working method is characterized in that:
in the fifth step, the process is carried out,
if the three midpoints are not superposed, an arbitrary triangle is formed. From the three vertex coordinates, a unique inner center coordinate may be determined. The inner center is the rotation center, and the calculation formula of the coordinate of the inner center is as follows:
wherein:
step six, the controller controls to turn off the laser indicator light, and simultaneously controls the industrial camera to shoot an image without a laser indicating point but containing the correcting device;
step seven, calculating the distance x between the horizontal axis and the vertical axis between the coordinates of the inner center point and the known coordinate points O (x ', y') by using an auxiliary correction device0-x′，y0Y', the driving device drives the three-axis moving sliding table to move corresponding coordinate components, and the rotating center is moved to the target point.
The invention has the beneficial effects that:
the invention does not need manual accurate centering and realizes full-automatic accurate centering of known points. The invention provides an idea and a method for developing a centering instrument capable of quickly and fully automatically realizing high-precision centering, and the design and the manufacture of the fully-automatic centering instrument can be realized according to the method, so that a hardware basis is provided for realizing a high-precision measurement task.
Which is shown in the following description of the invention,
1) compared with the traditional manual centering mode, the full-automatic centering mode is adopted, the traditional early-stage debugging means of repeatedly centering and leveling for many times in an alternating mode is changed, the centering is gradually approached to the known coordinate point, only leveling is needed, accurate centering is not needed, the whole process is fully-automatic, the relative coordinates of later-stage images do not need to be manually processed, the rotating center of the instrument can be adjusted to the target center position once, and the working efficiency is greatly improved.
2) The imaging device provided by the invention collects images containing known points and laser indicating points for a plurality of times, carries out coordinate calculation, solves the middle point by using pairwise symmetry, constructs a triangle by using three points, solves the inscribed circle of the triangle constructed by the three points to obtain the inner center coordinate, and approaches the rotation center step by step, so that the instrument centering precision is high by using the method.
3) The invention adopts the touch operation of the liquid crystal screen, and has good man-machine interaction performance.
4) The split type structure design mode is convenient and flexible to install and convenient to use.
Drawings
FIG. 1 is a schematic diagram of the image processing principle of the present invention;
FIG. 2 is a structural component view of an embodiment of the centering apparatus of the present invention;
FIG. 3 is a view showing the structure of an automatic slide table apparatus;
fig. 4 is a structural view of an image forming apparatus.
Detailed Description
The invention mainly comprises a controller, an image imaging device, a correcting device and other components for realizing full-automatic precision centering, and is technically implemented by the following scheme. Firstly, the centering instrument for automatically centering the point of the surveying instrument based on the industrial camera comprises a target imaging device, wherein the imaging device is arranged at the bottom of equipment and deviates 2-5 cm from the central axis of a rotating shaft, so that the target point and a laser indicating point can fall into the same collected image at the same time; secondly, the imaging pixels of the target imaging device are not less than 1000 ten thousand pixels, and the focal length is not less than 50mm, so that the image resolution is further ensured to be better than 0.3 mm; thirdly, the target imaging device is arranged at a vertical height of 80 cm to 120 cm from a ground coordinate point, so that image acquisition at a distance of about 1m from the ground can be realized; fourthly, the centering instrument for automatically centering points of the surveying instrument based on the industrial camera comprises a three-axis displacement sliding table and a driving device, the three-axis displacement sliding table can be driven to have a displacement range not less than 5cm in the XY axis direction, and the rotation angle of the Z axis is not less than 360 degrees; fifthly, the centering instrument for automatically centering the point based on the surveying instrument of the industrial camera comprises a control device, a display screen with a touch operation key is arranged on the control device, a control signal cable is transmitted to the control device, and the displacement operation and the photographing operation are carried out by controlling a driving device and a target imaging device; sixthly, the centering instrument for automatically centering the point based on the surveying and mapping instrument of the industrial camera comprises a correction device, wherein a scribing line with a standard scale is arranged on the device, and can be used for converting image coordinates into displacement coordinates.
In order to realize accurate centering, the center position of a laser indication point is measured and calculated by image information acquired by an imaging device through a matching algorithm, and a rotation center is accurately moved to the position of a target center point through a driving device and a three-axis displacement sliding table. The working principle of the method is as follows:
referring to fig. 1, firstly, erecting a full-automatic precision centering instrument at a position close to a known coordinate point O, leveling, opening a laser indication point, measuring the coordinates of a current laser indication point J1 of the instrument by the centering instrument by using an imaging device, roughly rotating by 60 ° to obtain a J2 point, similarly rotating for 6 times to respectively obtain the coordinates of the laser indication points J1, J2, J3, J4, J5 and J6, forming three different central points at pairwise symmetrical positions due to the existence of a rotation error, wherein the position of a middle point connecting J1 and J4 is set as C14, the position of a middle point connecting J2 and J5 is set as C25, the position of a middle point connecting J3 and J6 is set as C36, and determining the rotation center of a unique rotation shaft according to the positions of the three central points. The following three conditions exist at the positions of three middle points of C14, C25 and C36: first, three middle points C14, C25 and C36 coincide with each other, and in this case, the coincident point is the rotation center of the rotation axis.
Two of the three middle points C14, C25 and C36 coincide with each other, and the middle point between the two coincident points and the non-coincident point of the third point is taken as the rotation center of the rotation axis.
Thirdly, the three middle points of C14, C25 and C36 are not coincident with each other, at this time, the three points form an arbitrary triangle, and the inner center of the triangle is taken as the rotation center of the rotation axis.
The specific operation steps are as follows:
step one, after an imaging device of the full-automatic precision centering instrument is erected at the approximate position of a known point O (x ', y'), is roughly leveled, a power switch of a controller is turned on, a laser centering device is turned on, so that a laser point J1 and the known coordinate point O fall into the shooting range of an industrial camera shooting device, and after the system is started, the system can be directly observed from a screenThe laser points, the controller controls the industrial camera to shoot J1 point images and calculates the image coordinates (a) of J1 point1,b1)；
Step two, the controller controls the device to rotate by 60 degrees to reach a second shooting position, and the controller controls the industrial camera to acquire the image coordinate (a) of the point J22,b2)；
Step three, synchronizing the step one and the step two, sequentially rotating by 60 degrees, and acquiring coordinates (a) of J3, J4, J5 and J63,b3)、(a4,b4)、(a5,b5)、(a6,b6)；
Step four, calculating the coordinates of the middle points of connecting lines of J1 and J4, J2 and J5, and J3 and J6, namely C14, C25 and C36, and setting the coordinates of C14, C25 and C36 as A (x is x)1、y1)、B(x2、y2)、C(x3、y3) The coordinates of the three midpoints are as follows:
step five, if the three middle points are coincident, the coordinate of the point has x1＝x2＝x3，y1＝y2＝y3I.e. the point coordinate is the center coordinate of the rotation axis.
If two points of the three middle points coincide with each other and the other point does not coincide with the other point, the coordinate of the middle point between the coincident point and the non-coincident point is calculated, and if A, B points coincide and C does not coincide with A and B, x is calculated at the moment1＝x2＝x″，y1＝y2＝y″，
(x0，y0) I.e. the centre of rotation of the rotating shaft.
If the three midpoints are not superposed, an arbitrary triangle is formed. From the three vertex coordinates, a unique inner center coordinate may be determined. The inner center is the rotation center, and the calculation formula of the coordinate of the inner center is as follows:
wherein:
and step six, the controller controls the laser indicator lamp to be turned off, and simultaneously controls the industrial camera to shoot an image without a laser indicating point but containing the correcting device.
Step seven, calculating the distance x between the horizontal axis and the vertical axis between the coordinates of the inner center point and the known coordinate points O (x ', y') by using an auxiliary correction device0-x′，y0Y', the driving device drives the three-axis moving sliding table to move corresponding coordinate components, and the rotating center is moved to the target point.
With reference to fig. 2, a centering instrument assembled, for example, as a come card TS30 total station comprises: come card TS30 total powerstation 1, come card base 2, triaxial displacement slipway device 3, imaging device 4, light filling device 5, power supply 6, supplementary calibrating device 7, display device 8, come card special foot rest 9.
The connection relationship among the structures is as follows: the special foot rest 9 of card comes to erect on ground or platform, the special foot rest 9 of card comes is installed through the locking screw on the special foot rest 9 of card to fix its upper portion, come the fastening of card base 2 at the upper surface of three-axis displacement slipway device 3, come the card TS30 total powerstation 1 and place 2 on the card base, image device 4 is connected in the side below of three-axis displacement slipway device 3 with dovetail structure fastening, light filling device 5 and power supply 6 place on ground, 5 light source planes of light filling device keep the level with ground or erect the platform, supplementary calibrating device 7 center is placed and is come the card TS30 total powerstation 1's perpendicular axis and the nodical department of ground, display device 8 hangs and leans on special foot rest 9 of card.
Referring to fig. 3, the three-axis displacement slipway device 3 is formed by replacing a motor and a lead screw on the basis of AXY50-155H, so that the volume of the slipway is reduced and observation of observers is not hindered, a conversion board is installed at the bottom of the slipway, a covered groove is adopted for wiring, a dovetail groove is designed on the conversion board and is connected with the imaging device 4, and the three-axis displacement slipway device 3 and the laika TS30 total station 1 are fixed on a foot rest through locking screws on a foot rest 9 special for the laika. The foot stool of the device can be used universally on any measuring instrument such as a theodolite and a total station, and the situation that the foot stool cannot be used with a user in a matched mode is avoided.
The three-axis displacement sliding table device 3 is divided into 3 layers, the lowest layer does not move, and X, Y axes movement is respectively realized by the upper two layers. The axes of the automatic sliding table device X, Y are respectively oriented by high-precision crossed roller guide rails and driven by a stepping motor to rotate a high-precision lead screw to realize parallel movement. The crossed roller guide rail is a guide rail in which precise rollers which are vertically and alternately distributed roll on rolling surfaces of two 90-degree V-shaped grooves. By assembling two rows of cross roller guides in parallel, the structure can be subjected to loads in 4 directions, and by applying a preload to the cross roller guides, a gapless, highly rigid, lightweight sliding guide can be obtained. The stepping motor is arranged on the outer side of the sliding table and drives the sliding table to move by driving the high-precision lead screw. 2 extension springs are simultaneously installed in the sliding table, the direction of the tension force of the extension springs is opposite to the direction of the thrust force of the lead screw, and gapless high-precision translation movement of the sliding table can be achieved. The rear end of the stepping motor is provided with a high-precision coded disc, and the movement of the motor is monitored in real time to control the sliding table to move to a corresponding position accurately. And a manual rotating hand wheel is further mounted on an extending shaft at the tail part of the stepping motor, so that manual displacement of the automatic sliding table device in a special environment can be realized.
Referring to fig. 4, the imaging device 4 is a core part of the product, and includes a camera unit, a control unit, a power supply unit, a display unit, an interface unit, and a positioning and mounting module, which are respectively mounted in a specially configured housing. The optical system is arranged close to the rotation center and can vertically shoot the ground target and the laser point image. The shell is made of aluminum alloy, and is high in strength, convenient to process, light in weight and small in size. Casing tail end design has the dovetail structure, can insert triaxial displacement slip table device 3 side lower surface inslot fast accurately, through the locking of hand wheel behind the dovetail face location, makes fastening connection do not have and rocks, and the image characteristic who acquires when guaranteeing later stage image processing is accurate.
The shell of the power supply 6 adopts an aluminum profile box, so that the weight is light and the strength is high. The battery, the electric quantity display module and the like are arranged in the solar water heater.
The upper surface of the auxiliary calibration device 7 is laser-marked with a white scale line, and the other surfaces are sprayed into black, so that image noise can be effectively removed, and background reference is provided for identifying image quality.
The back of the image processing device 8 is provided with a hanging rack which protects the image processing device, is matched with a foot rest 9 special for come cards and can be hung on any supporting leg of the image processing device.
Claims (10)
1. A surveying instrument automatic determination centering appearance of centering point based on image control includes:
the controller is internally integrated with a matching algorithm which can process image information acquired by the imaging device;
the correcting device can correct and move the rotation center of the centering instrument to the position of the target center point according to the image information processing result.
2. The centering instrument as claimed in claim 1, wherein said matching algorithm is a program for implementing an image information processing method;
the image information processing method realizes:
firstly, erecting a centering instrument at a nearly known coordinate point O, leveling, opening a laser indicating point, measuring the coordinates of a current laser indicating point J1 of the instrument by the centering instrument by using an imaging device, roughly rotating by 60 degrees to obtain a J2 point, similarly rotating for 6 times to respectively obtain the coordinates of the J1, J2, J3, J4, J5 and J6 laser indicating points, forming three different central points at pairwise symmetrical positions, wherein the position of the central point connected with J1 and J4 is set as C14, the position of the central point connected with J2 and J5 is set as C25, the position of the central point connected with J3 and J6 is set as C36, and determining the rotation center of a unique rotating shaft according to the positions of the three central points;
the following three conditions exist at the positions of three middle points of C14, C25 and C36:
firstly, three middle points of C14, C25 and C36 coincide, and in this case, the coincident point is the rotation center of the rotation axis;
secondly, two points of three middle points C14, C25 and C36 coincide, and at the moment, a middle point between the two coincident points and a non-coincident point of a third point is taken as the rotation center of the calculated rotation axis;
thirdly, the three middle points of C14, C25 and C36 are not coincident with each other, at this time, the three points form an arbitrary triangle, and the inner center of the triangle is taken as the rotation center of the rotation axis.
3. The centering instrument of claim 1, wherein said correction means comprises:
a three-axis displacement sliding table is arranged,
the triaxial displacement slip table is divided into 3 layers, and the lower floor is unmovable, and the upper two-layer X, Y axle removal of realizing respectively.
4. The centering instrument as claimed in any one of claims 1 to 3, further comprising: a light filling device for image device.
5. The centering instrument of claim 4, further comprising: a display device for displaying an image.
6. The centering instrument of claim 5, wherein: the imaging device may be a total station, a theodolite or a super station.
7. A method for operating a centering instrument as claimed in claim 1, characterized in that it comprises:
firstly, erecting a full-automatic precision centering instrument at a nearly known coordinate point O, leveling, opening a laser indicating point, measuring the coordinates of a current laser indicating point J1 of the instrument by the centering instrument by using an imaging device, roughly rotating by 60 degrees to obtain a J2 point, similarly rotating for 6 times to respectively obtain the coordinates of the J1, the J2, the J3, the J4, the J5 and the J6 laser indicating points, forming three different central points at pairwise symmetrical positions due to the existence of rotation errors, setting the position of a central point connected with J1 and J4 as C14, setting the position of a central point connected with J2 and J5 as C25, setting the position of a central point connected with J3 and J6 as C36, and determining the rotation center of a unique rotating shaft according to the positions of the three central points;
the following three conditions exist at the positions of three middle points of C14, C25 and C36: firstly, three middle points of C14, C25 and C36 coincide, and in this case, the coincident point is the rotation center of the rotation axis;
secondly, two points of three middle points C14, C25 and C36 coincide, and at the moment, a middle point between the two coincident points and a non-coincident point of a third point is taken as the rotation center of the calculated rotation axis;
thirdly, the three middle points of C14, C25 and C36 are not coincident with each other, at this time, the three points form an arbitrary triangle, and the inner center of the triangle is taken as the rotation center of the rotation axis.
8. The working method according to claim 7, characterized by comprising the specific steps of:
firstly, after an imaging device of a full-automatic precision centering instrument is erected at the approximate position of a known point O (x ', y'), after approximate leveling, a power switch of a controller is turned on, a laser centering device is turned on, so that a laser point J1 and a known coordinate point O fall into the shooting range of an industrial camera shooting device, after the system is started, the position of a laser indicating point can be directly observed from a screen, the controller controls the industrial camera to shoot an image of a J1 point and calculates the image coordinate (a) of the J1 point1,b1)；
Step two, the controller controls the device to rotate by 60 degrees to reach a second shooting position, and the controller controls the industrial camera to acquire the image coordinate (a) of the point J22,b2)；
Step three, synchronizing the step one and the step two, sequentially rotating by 60 degrees, and acquiring coordinates (a) of J3, J4, J5 and J63,b3)、(a4,b4)、(a5,b5)、(a6,b6)；
Step four, calculating the coordinates of the middle points of connecting lines of J1 and J4, J2 and J5, and J3 and J6, namely C14, C25 and C36, and setting the coordinates of C14, C25 and C36 as A (x is x)1、y1)、B(x2、y2)、C(x3、y3) The coordinates of the three midpoints are as follows:
step five, if the three middle points are coincident, the coordinate of the point has x1＝x2＝x3，y1＝y2＝y3Namely, the point coordinate is the central coordinate of the rotating shaft;
step six, the controller controls to turn off the laser indicator light, and simultaneously controls the industrial camera to shoot an image without a laser indicating point but containing the correcting device;
step seven, calculating the distance x between the horizontal axis and the vertical axis between the coordinates of the inner center point and the known coordinate points O (x ', y') by using an auxiliary correction device0-x′，y0Y', the driving device drives the three-axis moving sliding table to move corresponding coordinate components, and the rotating center is moved to the target point.
9. The method of operation of claim 8, wherein:
in the fifth step, the process is carried out,
if two points of the three middle points coincide with each other and the other point does not coincide with the other point, the coordinate of the middle point between the coincident point and the non-coincident point is calculated, and if A, B points coincide and C does not coincide with A and B, x is calculated at the moment1＝x2＝x″，y1＝y2＝y″，
(x0，y0) The rotating center of the rotating shaft is obtained;
step six, the controller controls to turn off the laser indicator light, and simultaneously controls the industrial camera to shoot an image without a laser indicating point but containing the correcting device;
step seven, calculating the distance x between the horizontal axis and the vertical axis between the coordinates of the inner center point and the known coordinate points O (x ', y') by using an auxiliary correction device0-x′，y0Y', the driving device drives the three-axis moving sliding table to move corresponding coordinate components, and the rotating center is moved to the target point.
10. The method of operation of claim 8, wherein:
in the fifth step, the process is carried out,
if the three midpoints are not superposed, an arbitrary triangle is formed. From the three vertex coordinates, a unique inner center coordinate may be determined. The inner center is the rotation center, and the calculation formula of the coordinate of the inner center is as follows:
wherein:
step six, the controller controls to turn off the laser indicator light, and simultaneously controls the industrial camera to shoot an image without a laser indicating point but containing the correcting device;
step seven, calculating the distance x between the horizontal axis and the vertical axis between the coordinates of the inner center point and the known coordinate points O (x ', y') by using an auxiliary correction device0-x′，y0Y', the driving device drives the three-axis moving sliding table to move corresponding coordinate components, and the rotating center is moved to the target point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010555662.0A CN111521167B (en) | 2020-06-17 | 2020-06-17 | Centering instrument for automatically measuring centering point of surveying and mapping instrument based on image control and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010555662.0A CN111521167B (en) | 2020-06-17 | 2020-06-17 | Centering instrument for automatically measuring centering point of surveying and mapping instrument based on image control and working method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111521167A true CN111521167A (en) | 2020-08-11 |
| CN111521167B CN111521167B (en) | 2022-10-04 |
Family
ID=71909769
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010555662.0A Active CN111521167B (en) | 2020-06-17 | 2020-06-17 | Centering instrument for automatically measuring centering point of surveying and mapping instrument based on image control and working method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111521167B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115326574A (en) * | 2022-07-26 | 2022-11-11 | 中国人民解放军空军工程大学 | Direct tensile experimental apparatus of rock under triaxial loading |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011108956A1 (en) * | 2010-03-01 | 2011-09-09 | Chekalin Sergey Ivanovich | Method for installing measuring equipment in a working position and device for implementing same |
| RU158119U1 (en) * | 2015-06-17 | 2015-12-20 | Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Казанский государственный архитектурно-строительный университет" КГАСУ | LASER LEVEL |
| CN106403916A (en) * | 2016-12-02 | 2017-02-15 | 淮阴工学院 | Total station for measuring centering point based on digital image and working method thereof |
| CN106950917A (en) * | 2017-01-23 | 2017-07-14 | 深圳市卓翼科技股份有限公司 | Camera calibrated method and device |
| CN108344405A (en) * | 2018-01-08 | 2018-07-31 | 宁波仲柏信息科技有限公司 | A kind of instrument of surveying and mapping self-checking device |
-
2020
- 2020-06-17 CN CN202010555662.0A patent/CN111521167B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011108956A1 (en) * | 2010-03-01 | 2011-09-09 | Chekalin Sergey Ivanovich | Method for installing measuring equipment in a working position and device for implementing same |
| RU158119U1 (en) * | 2015-06-17 | 2015-12-20 | Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Казанский государственный архитектурно-строительный университет" КГАСУ | LASER LEVEL |
| CN106403916A (en) * | 2016-12-02 | 2017-02-15 | 淮阴工学院 | Total station for measuring centering point based on digital image and working method thereof |
| CN106950917A (en) * | 2017-01-23 | 2017-07-14 | 深圳市卓翼科技股份有限公司 | Camera calibrated method and device |
| CN108344405A (en) * | 2018-01-08 | 2018-07-31 | 宁波仲柏信息科技有限公司 | A kind of instrument of surveying and mapping self-checking device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115326574A (en) * | 2022-07-26 | 2022-11-11 | 中国人民解放军空军工程大学 | Direct tensile experimental apparatus of rock under triaxial loading |
| CN115326574B (en) * | 2022-07-26 | 2023-03-10 | 中国人民解放军空军工程大学 | Direct tensile experimental apparatus of rock under triaxial loading |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111521167B (en) | 2022-10-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107167790B (en) | A kind of two step scaling method of laser radar based on Calibration Field | |
| CN107971831B (en) | Numerically-controlled machine tool high dynamic any profile errors monocular 6 DOF measurement method on a large scale | |
| CN200986436Y (en) | Device for detecting location deviation of visual laser beam | |
| CN106404001B (en) | Star sensor and dynamic optical star simulator precision installation alignment device and test method | |
| CN111076880A (en) | Multi-point deflection measuring method of long-span bridge considering camera attitude change | |
| CN102406504B (en) | Double-column non-contact three-dimensional (3D) automatic human dimension measuring instrument | |
| CN110542434B (en) | Target for ground debugging of satellite-borne integrated rapid observation system and ground debugging method | |
| CN109631826B (en) | Satellite automation precision detection method | |
| CN101493318A (en) | Rudder deflection angle synchronization dynamic measurement system and implementing method thereof | |
| KR101905011B1 (en) | Numerical map manufacturing system for posting of reality building based on GPS using a precise height data of reality building | |
| CN114108717A (en) | Foundation pit enclosure top deformation monitoring system and method based on vision measurement | |
| CN110285816A (en) | A kind of moonlet on-board equipment high-precision attitude measuring system and method | |
| CN110095659B (en) | Dynamic testing method for pointing accuracy of communication antenna of deep space exploration patrol device | |
| CN111811496B (en) | Oblique non-contact three-dimensional linear velocity and double-shaft dynamic angle measuring system and method | |
| CN111665023B (en) | Telescope distortion measuring device and method | |
| CN106553770A (en) | The imaging test method of remote sensing satellite attitude motion compensation | |
| CN210293237U (en) | High-precision attitude measurement system for small satellite onboard equipment | |
| CN111521167B (en) | Centering instrument for automatically measuring centering point of surveying and mapping instrument based on image control and working method thereof | |
| CN106441371B (en) | Special verification/calibration device for digital level | |
| CN112697074B (en) | Dynamic object to be measured angle measuring instrument and measuring method | |
| CN108931236A (en) | Industrial robot end repetitive positioning accuracy measuring device and method | |
| CN113607188A (en) | Calibration system and method of multi-view-field star sensor based on theodolite cross-hair imaging | |
| CN111102918B (en) | Automatic measuring system of cubic mirror coordinate system | |
| CN116862995A (en) | External camera parameter calibration device and method for large-spacing and public-view-field-free camera | |
| CN218865001U (en) | Pre-buried channel intellectual detection system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |